US5481503A - Apparatus for and method of adaptively processing sonar data - Google Patents
Apparatus for and method of adaptively processing sonar data Download PDFInfo
- Publication number
- US5481503A US5481503A US06/680,953 US68095384A US5481503A US 5481503 A US5481503 A US 5481503A US 68095384 A US68095384 A US 68095384A US 5481503 A US5481503 A US 5481503A
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- broadband
- scan
- data
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- sonar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
- G01S7/5273—Extracting wanted echo signals using digital techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/52—Discriminating between fixed and moving objects or between objects moving at different speeds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/15—Correlation function computation including computation of convolution operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Definitions
- the processor improves the detectability of discrete narrowband line data useful in target detection and classification in a background of broadband noise containing both relatively broad and narrow interference ripples due to multipath propagation.
- means are provided for adaptively shearing large amplitude narrowband line data in a given scan of the power spectrum to reduce error in the normalization process, the shearing function being computed from the prior scan.
- means are provided for separately forming a high pass gated complex autocorrelation function in interval(s) embracing greater than near zero time difference peak(s) and a low pass gated complex autocorrelation function in an interval embracing near zero time difference peak(s).
- Separate Fourier transformation means are provided to perform the inverse complex to real Fourier transformation of the high pass and low pass gated complex autocorrelation functions to obtain separate estimates of the broadband interference ripple and the broadband interference trend.
- the broadband ripple estimate is then subtracted from the input sonar data to reduce any ripple therein to achieve a significant noise reduction.
- the difference quantity containing the sonar data is then divided by the estimated broadband trend to normalize the sonar data.
- FIG. 3 is a block diagram of the normalization processor, the fifteen blocks or functional elements providing the requisite internal processor functions and the interconnections denoting the paths of the input and control signals through the processor.
- FIGS. 4A thru 4I illustrate the operation of the normalization processor upon representative simulated data in a four path situation
- FIG. 4A illustrates the input power spectrum
- FIG. 4B illustrates the threshold characteristic of the amplitude shear
- FIG. 4C illustrates the input power spectrum after shearing
- Figure 4D illustrates the correlation magnitude function
- FIG. 4E illustrates the correlation magnitude function after thresholding
- FIG. 4F illustrates the isolated high pass broadband power spectrum depicting broadband ripple obtained by a second Fourier transformation
- FIG. 4G illustrates the isolated low pass broadband power spectrum characterizing the broadband trend obtained by a second Fourier transformation
- 4H illustrates the input power spectrum after a subtraction which removes broadband ripple
- FIG. 4I illustrates the normalized output power spectrum
- a data adaptive normalization processor in accordance with the invention and which uses the observed (estimated) correlation function to obtain a spectral normalizing function on a per scan (time update) basis is illustrated in FIG. 3.
- the technique by which the broadband signal power spectrum is separated from the narrowband components takes advantage of a simple duality principle. Narrowband signal energy is concentrated in small frequency intervals of the power spectrum, and is spread over large time difference intervals of the autocorrelation function. On the other hand, broadband signal energy is spread over large frequency intervals of the power spectrum, and is concentrated in small time difference intervals of the autocorrelation function. Thus, by gating the autocorrelation function within these small time difference intervals, one may effectively separate the broadband signal energy from the narrowband energy.
- T is an amplitude
- the complex autocorrelation function is coupled to the single input ports of the gates 25, 26 for control by the logical gating function.
- the complex autocorrelation function from 22 is coupled to the signal input ports of the gates 25 and 26.
- the output of the high pass gate 25 contains peaks at intermediately numbered cells corresponding to non "near zero" time differences as shown in FIG. 4E.
- the output of the low pass gate 26 contains peak(s) at the initial cells.
- the time difference gated correlation functions are next transformed by means 27 and 28 respectively back to a real power spectrum format to complete the desired low pass and high pass filtering and to obtain the broadband ripple separated from the broadband trend.
- the time difference gated complex autocorrelation quantity from gate 25 is coupled to the second Fourier transformation means 27 which reconverts the gated complex autocorrelation sample back to a real power spectrum format, the reconverted form being shown at FIG. 4F.
- the reconverted high pass gated broadband spectrum is rippled, repeating the ripples of the original input power spectrum 20, but is bi-directional about a zero mean value.
- the main path of the input power spectrum through the normalization processor passes successively through the vector subtractor 33 in which the broadband ripple is largely removed, followed by passage through the vector divider 34 in which the output of the vector subtractor is normalized in relation to the broadband trend.
- the complex autocorrelation estimate is next passed through the high pass and low pass gates 25, 26 under control of the threshold 24 and the gate generator 38 for separate application to the complex to real Fourier transformation means 27, 28.
- the gating operation is depicted in FIG. 5B.
- the output of the threshold 24 is next coupled to the gate generator 38 in which the logical correlation function is used to form separate high pass and low pass gating signals for the gates 25, 26.
- the low pass gated complex correlation function (L cells) is Fourier transformed (L complex cells to K real cells) resulting in the real low pass broadband spectrum (K cells).
- the beginning "out of band” I cells and ending "out of band” J+M cells are stripped off leaving W cells of in band data.
- the data is input to the vector divider 34 (FIG. 5C) and input to the shear threshold computer 32 (FIG. 5D).
- a cell by cell comparison of the amplitudes of the input functions at A and B is performed in the shear threshold computer, keeping the greatest value between A and B.
- the arrangement provides a shearing threshold computed from data of the K th scan to be applied in input power spectrum data of the (K+1) th scan over the W "in band" frequency cells of interest.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mathematical Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Pure & Applied Mathematics (AREA)
- Computational Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Computing Systems (AREA)
- Algebra (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
CELL.sub.i =T.sub.REAL.sbsb.i +jT.sub.imag.sub.i ;1≦i≦I(1)
Claims (11)
Priority Applications (1)
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US06/680,953 US5481503A (en) | 1984-12-12 | 1984-12-12 | Apparatus for and method of adaptively processing sonar data |
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US06/680,953 US5481503A (en) | 1984-12-12 | 1984-12-12 | Apparatus for and method of adaptively processing sonar data |
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US5481503A true US5481503A (en) | 1996-01-02 |
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US06/680,953 Expired - Lifetime US5481503A (en) | 1984-12-12 | 1984-12-12 | Apparatus for and method of adaptively processing sonar data |
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5828694A (en) * | 1996-07-01 | 1998-10-27 | Trimble Navigation Limited | Determination of multipath tracking error |
US5889688A (en) * | 1997-09-30 | 1999-03-30 | United States Of America As Represented By The Secretary Of The Navy | Frequency domain kernel phase processor |
US5903597A (en) * | 1996-05-20 | 1999-05-11 | Trimble Navigation Limited | Suppression on multipath signal effects |
US5923703A (en) * | 1996-05-20 | 1999-07-13 | Pon; Rayman | Variable suppression of multipath signal effects |
US6002361A (en) * | 1996-04-30 | 1999-12-14 | Trimble Navigation Limited | Direct integrated approach to multipath signal identification |
US6252863B1 (en) | 1996-04-09 | 2001-06-26 | Trimble Navigation Limited | Multipath compensation for pseudorange signals |
US6731908B2 (en) | 2001-01-16 | 2004-05-04 | Bluesoft, Inc. | Distance measurement using half-duplex RF techniques |
US20040166478A1 (en) * | 2003-02-25 | 2004-08-26 | Lockheed Martin Corporation | All ship speeds correlation SONAR simulator |
US6859761B2 (en) | 2001-01-16 | 2005-02-22 | Bluesoft Ltd. | Accurate distance measurement using RF techniques |
US6898415B2 (en) | 2001-01-16 | 2005-05-24 | Aeroscout, Inc. | System and method for reducing multipath distortion in wireless distance measurement systems |
US20080094274A1 (en) * | 2005-05-16 | 2008-04-24 | Motoi Nakanishi | Radar |
CN104820218A (en) * | 2015-05-26 | 2015-08-05 | 中国科学院声学研究所东海研究站 | Shallow sea seabed single parameter inversion method based on frequency domain autocorrelation |
CN113189570B (en) * | 2021-04-23 | 2022-02-01 | 中国科学院声学研究所 | Array signal processing method and system based on complex domain compressed sensing |
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-
1984
- 1984-12-12 US US06/680,953 patent/US5481503A/en not_active Expired - Lifetime
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Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6252863B1 (en) | 1996-04-09 | 2001-06-26 | Trimble Navigation Limited | Multipath compensation for pseudorange signals |
US6002361A (en) * | 1996-04-30 | 1999-12-14 | Trimble Navigation Limited | Direct integrated approach to multipath signal identification |
US5903597A (en) * | 1996-05-20 | 1999-05-11 | Trimble Navigation Limited | Suppression on multipath signal effects |
US5923703A (en) * | 1996-05-20 | 1999-07-13 | Pon; Rayman | Variable suppression of multipath signal effects |
US5963601A (en) * | 1996-05-20 | 1999-10-05 | Trimble Navigation Limited | Variable suppression of multipath signal effects |
US6084927A (en) * | 1996-05-20 | 2000-07-04 | Trimble Navigation Limited | Suppression of multipath signal effects |
US5828694A (en) * | 1996-07-01 | 1998-10-27 | Trimble Navigation Limited | Determination of multipath tracking error |
US5889688A (en) * | 1997-09-30 | 1999-03-30 | United States Of America As Represented By The Secretary Of The Navy | Frequency domain kernel phase processor |
US6731908B2 (en) | 2001-01-16 | 2004-05-04 | Bluesoft, Inc. | Distance measurement using half-duplex RF techniques |
US6859761B2 (en) | 2001-01-16 | 2005-02-22 | Bluesoft Ltd. | Accurate distance measurement using RF techniques |
US6898415B2 (en) | 2001-01-16 | 2005-05-24 | Aeroscout, Inc. | System and method for reducing multipath distortion in wireless distance measurement systems |
US20040166478A1 (en) * | 2003-02-25 | 2004-08-26 | Lockheed Martin Corporation | All ship speeds correlation SONAR simulator |
US7920821B2 (en) * | 2003-02-25 | 2011-04-05 | Lockheed Martin Corporation | All ship speeds correlation SONAR simulator |
US20080094274A1 (en) * | 2005-05-16 | 2008-04-24 | Motoi Nakanishi | Radar |
US7460058B2 (en) * | 2005-05-16 | 2008-12-02 | Murata Manufacturing Co., Ltd. | Radar |
CN104820218A (en) * | 2015-05-26 | 2015-08-05 | 中国科学院声学研究所东海研究站 | Shallow sea seabed single parameter inversion method based on frequency domain autocorrelation |
CN113189570B (en) * | 2021-04-23 | 2022-02-01 | 中国科学院声学研究所 | Array signal processing method and system based on complex domain compressed sensing |
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